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Authors
G. Pezzuto; J. Gancet; S. Nabulsi

Identifier
10.3182/20060906-3-IT-2910.00082

Index Terms
control system design,industrial robot,robotics,remote control,users interfaces

Abstract
The paper explains the recent improvements in the control architecture of a four-legged, two-roped walking robot conceived and designed for consolidation of almost vertical and irregular rocky walls. Saferdrill robot, whose development is funded by EC under Co-operative Research programme, must operate in harsh conditions and remotely controlled in order to make positioning and performing downhill drilling up to 20 m from a remote and safe place. The system architecture used to coordinate the manoeuvrability of the positioning, the drilling process, and the remote operation of the machine are explained.

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